CN112231833B - CATIA-based equivalent steering resisting moment calculation method - Google Patents
CATIA-based equivalent steering resisting moment calculation method Download PDFInfo
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- CN112231833B CN112231833B CN202011104910.6A CN202011104910A CN112231833B CN 112231833 B CN112231833 B CN 112231833B CN 202011104910 A CN202011104910 A CN 202011104910A CN 112231833 B CN112231833 B CN 112231833B
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Abstract
The invention relates to a CATIA-based equivalent steering resistance moment calculation method. The calculation method comprises the following specific steps: firstly, establishing a whole vehicle framework model by adopting CATIA software; and secondly, calculating the in-situ steering resistance torque of the tire: calculating the steering resistance moment of each tire one by one; thirdly, calculating the in-situ steering equivalent steering resistance torque of the tire: and fourthly, drawing a tire pivot steering equivalent steering resistance moment curve, wherein the abscissa is a steering vertical arm swing angle, and the ordinate is the tire pivot steering equivalent steering resistance moment. The invention reduces the calculated amount of designers, improves the working efficiency, improves the accuracy of the calculated result, obtains the functional relation curve chart of the swing angle of any position of the steering plumbing arm and the equivalent resisting moment, and has intuitive and perceptual knowledge on the output torque of the steering engine required in the steering process of the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle resisting moment calculation, and particularly relates to an equivalent steering resisting moment calculation method based on CATIA.
Background
The existing method comprises the steps of firstly, calculating the pivot steering resistance torque of a single tire through a semi-empirical formula; secondly, when a framework model established by CATIA software is used for measuring the included angle between a steering vertical arm, a middle rocker arm, a steering knuckle arm and a steering trapezoid arm and a corresponding stressed steering pull rod at a certain position of the tire (such as straight forward straight line driving); and finally, calculating the output torque of the required steering engine (namely the equivalent resistance torque of the output end of the steering engine) according to Newton's law, a lever principle and the like. The equivalent resisting moment calculated by the method has larger error. Because the included angle between all the forces and the force arm is a three-dimensional space, the measured spatial included angle needs to be decomposed into three-dimensional vectors according to the direction of the rotating shaft, and the method is complex. Therefore, in many cases, the influence of small angles is directly ignored, and the measured included angles are directly used for approximate calculation, so that the equivalent resisting moment has certain error.
Secondly, the method can only calculate the equivalent resisting moment at a certain position moment at one time, and cannot draw a curve graph of the functional relation between the swing angle of any position of the steering plumbing arm and the equivalent resisting moment. Therefore, in many cases we only calculate the equivalent resistive torque for three cases, straight driving, left-turn limit and right-turn limit.
Disclosure of Invention
The invention aims to provide an equivalent steering resisting moment calculation method based on CATIA (computer-aided three-dimensional interactive application), which reduces the calculation amount of designers, improves the working efficiency, improves the accuracy of the calculation result, obtains a functional relation curve graph of the swing angle of any position of a steering vertical arm and the equivalent resisting moment, and has intuitive and perceptual knowledge on the output torque of a steering engine required in the steering process of a vehicle.
The technical scheme of the invention is that the method for calculating the equivalent steering resisting moment based on the CATIA comprises the following specific steps:
step one, establishing a whole vehicle framework model by adopting CATIA software: establishing a motion mechanism by adopting a DMU module in CATIA software, carrying out joint constraint, carrying out whole vehicle steering simulation by using a normal instruction, establishing angular speed and angle monitoring on a steering vertical arm and all tires by using a speed and acceleration instruction, if a power cylinder exists, establishing telescopic axis speed and displacement monitoring of the power cylinder, and exporting a whole process simulation result from a right-turning limit position to a left-turning limit position of the vehicle;
and secondly, calculating the in-situ steering resistance torque of the tire: the steering resistance torque of each tire is calculated one by one,
the steering resistance torque of the tire in parking steering can be calculated using the following formula:
wherein, T Z Is the parking steering resistance torque of a tire, with the unit of N.m; μ is a sliding friction coefficient between the tire and the road surface, μ =1.0; g t Is the vertical load acting on a tire in units of N; p is tire pressure in Pa.
Thirdly, calculating the equivalent steering resistance torque of the tire in-situ steering:
the steering mechanism with the single degree of freedom is simplified into a member, the instantaneous power of the steering machine required by pivot steering is calculated, and the output torque of the steering machine required by the pivot steering can be calculated according to the known angular speed of the output end of the steering machine;
and fourthly, drawing a tire pivot steering equivalent steering resistance moment curve, wherein the abscissa is a steering plumbing arm swing angle, and the ordinate is the tire pivot steering equivalent steering resistance moment.
And the third step, calculating the equivalent steering resisting moment of the tire in-situ steering specifically comprises the following steps: 1) Calculating the sum of the instantaneous power of the 4 tires in the pivot steering, namely the total instantaneous power of the tires in the pivot steering, according to the angular velocity in the calculation result of the first step and the steering resistance torque calculated in the second step;
2) Calculating the instantaneous power of the steering machine, wherein the instantaneous power of the steering machine is equal to the sum of the total instantaneous power of the in-situ steering of the tire and the instantaneous power output under the maximum working pressure of the power cylinder;
3) And (4) calculating the tire pivot steering equivalent steering resistance torque, namely the tire pivot steering equivalent steering resistance torque is equal to the instantaneous power of the steering engine divided by the steering vertical arm angular speed.
The method has the advantages that the method adopts the speed and acceleration sensor in CATIA software to monitor, and can accurately solve the displacement, the speed and the acceleration of each part relative to any object at any time and any position of the motion mechanism in real time; the invention reduces the calculated amount of designers, improves the working efficiency, improves the accuracy of the calculated result, obtains the curve graph of the functional relation between the swing angle of any position of the steering plumbing arm and the equivalent resisting moment, and has intuitive and perceptual knowledge on the output torque of the steering engine required in the steering process of the vehicle.
Drawings
FIG. 1 is a tire pivot steering equivalent steering resisting moment curve in the CATIA-based equivalent steering resisting moment calculation method of the invention.
Detailed Description
The technical solution of the present invention is described in further detail below.
The invention discloses a CATIA-based equivalent steering resisting moment calculation method, which comprises the following specific steps:
firstly, establishing a whole vehicle skeleton model by adopting CATIA software, establishing a motion mechanism and performing joint constraint by using a DMU module in the CATIA software for performing kinematic dynamics simulation, performing whole vehicle steering simulation by using a normal instruction, establishing angular speed and angle monitoring on a steering vertical arm and all tires by using a speed and acceleration instruction, and establishing telescopic axis speed and displacement monitoring of a power cylinder if the power cylinder exists. Then, the instantaneous angular velocity of the steering vertical arm and all tires and the telescopic axis velocity of the booster cylinder can be monitored by using the function of 'activation sensor', and the simulation result of the whole process from the right-turning limit position to the left-turning limit position of the vehicle is led out to an EXCEL table, which is shown in Table 1.
And secondly, calculating the in-situ steering resistance moment of the tire. The steering resistance torque of the tire in parking steering can be calculated using the following formula:
wherein, T Z Is the parking steering resistance torque of a tire, with the unit of N.m; μ is a sliding friction coefficient between the tire and the road surface, and μ =1.0 is generally taken; g t Is the vertical load acting on a tire in units of N; p is tire pressure in Pa.
The steering resistance torque of each tire is calculated one by using the above formula.
Thirdly, calculating the equivalent steering resistance moment of the in-situ steering of the tire,
the instantaneous power of the equivalent moment is equal to the sum of the instantaneous powers of all external forces and moments actually acting on the machine. The kinematic dynamics problem of a single-degree-of-freedom mechanism is simplified. The steering mechanism is composed of a plurality of parts, the motion conditions of each part are different, and the steering motion of the whole vehicle mechanism is complex to solve, so that the steering mechanism with single degree of freedom is simplified into a component, the problem is greatly simplified, and the equivalent dynamic model is realized.
The instantaneous power of the equivalent resisting moment during the pivot steering of the tire is equal to the sum of the instantaneous power of the steering machine required during the pivot steering and the output instantaneous power of the power cylinder under the maximum working pressure. Therefore, the instantaneous power of the steering engine required for pivot steering can be calculated, and the output torque of the steering engine required for pivot steering can be calculated according to the known angular velocity of the output end of the steering engine (namely, the vertical arm angular velocity), as shown in FIG. 1.
1. And (3) calculating the sum of the instantaneous power of the 4 tires in-situ steering, namely the total instantaneous power of the tires in-situ steering according to the angular speed in the table 1 in the first step and the steering resistance torque obtained by calculation in the second step, wherein the instantaneous power of each tire in-situ steering adopts a relational formula of the common torque and the power.
2. And calculating the instantaneous power of the steering machine, wherein the instantaneous power of the steering machine is equal to the sum of the instantaneous power of the in-situ steering of the tire and the instantaneous power output under the maximum working pressure of the power cylinder.
Wherein the output instantaneous power under the maximum working pressure of the power cylinder is equal to the linear speed of the telescopic line of the power cylinder (see table 1) multiplied by the pressure of the power cylinder.
3. The tire pivot steering equivalent steering resistance torque, i.e., the tire pivot steering equivalent steering resistance torque is calculated as the instantaneous power of the steering engine divided by the steering knuckle angular velocity, see table 1.
The above calculation processes are all simple and can be realized by the EXCEL table editing function, which is not described herein any more, and the calculation results are shown in table 1.
And fourthly, drawing a tire pivot steering equivalent steering resistance moment curve, drawing through an EXCEL table, wherein the abscissa is a steering plumbing arm swing angle, and the ordinate is the tire pivot steering equivalent steering resistance moment.
Table 1:
Claims (1)
1. the CATIA-based equivalent steering resistance moment calculation method is characterized by comprising the following steps of: the calculation method comprises the following specific steps:
step one, establishing a whole vehicle framework model by adopting CATIA software: establishing a motion mechanism by adopting a DMU module in CATIA software, carrying out joint constraint, carrying out whole vehicle steering simulation by using a normal instruction, establishing angular speed and angle monitoring on a steering vertical arm and all tires by using a speed and acceleration instruction, if a power cylinder exists, establishing telescopic axis speed and displacement monitoring of the power cylinder, and exporting a whole process simulation result from a right-turning limit position to a left-turning limit position of a vehicle;
and secondly, calculating the in-situ steering resistance torque of the tire: the steering resistance torque of each tire is calculated one by one,
the steering resistance torque of the tire in parking steering can be calculated using the following formula:
wherein, T Z Is the parking steering resistance torque of a tire, with the unit of N.m; mu is the sliding friction between the tire and the road surfaceThe friction coefficient; g t Is the vertical load acting on a tire in units of N; p is tire pressure in Pa;
thirdly, calculating the equivalent steering resistance torque of the tire in-situ steering:
the steering mechanism with the single degree of freedom is simplified into a member, the instantaneous power of the steering machine required by pivot steering is calculated, and the output torque of the steering machine required by the pivot steering can be calculated according to the known angular speed of the output end of the steering machine; the method comprises the following specific steps:
1) Calculating the sum of the instantaneous power of the 4 tires in the pivot steering, namely the total instantaneous power of the tires in the pivot steering, according to the angular velocity in the calculation result of the first step and the steering resistance torque calculated in the second step;
2) Calculating the instantaneous power of the steering machine, wherein the instantaneous power of the steering machine is equal to the sum of the total instantaneous power of the in-situ steering of the tire and the instantaneous power output by the power cylinder under the maximum working pressure;
3) Calculating the equivalent steering resistance torque of the tire in-situ steering, namely the equivalent steering resistance torque of the tire in-situ steering is equal to the instantaneous power of a steering engine divided by the angular speed of a steering vertical arm;
and fourthly, drawing a tire pivot steering equivalent steering resistance moment curve, wherein the abscissa is a steering vertical arm swing angle, and the ordinate is the tire pivot steering equivalent steering resistance moment.
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| CN109325268A (en) * | 2018-08-31 | 2019-02-12 | 江苏大学 | A kind of Vehicular turn resistance considering tire and pavement friction away from calculation method |
| CN109800471A (en) * | 2018-12-26 | 2019-05-24 | 北奔重型汽车集团有限公司 | A kind of heavy truck general arrangement method |
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| DE102014006321A1 (en) * | 2014-04-30 | 2015-11-05 | Avl List Gmbh | System and method for analyzing the energy efficiency of a motor vehicle, in particular a device of the motor vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109325268A (en) * | 2018-08-31 | 2019-02-12 | 江苏大学 | A kind of Vehicular turn resistance considering tire and pavement friction away from calculation method |
| CN109800471A (en) * | 2018-12-26 | 2019-05-24 | 北奔重型汽车集团有限公司 | A kind of heavy truck general arrangement method |
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| Design of slip-based traction control system for EV and validation using cosimulation between Adams and Matlab/Simulink;Sudipta Saha et al;《Simulation: Transactions of the Society for Modeling and Simulation International》;20200121;第96卷(第6期);第1-13页 * |
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